DEVICE EPICPOS

• The internal device EPICPOS is one tool that resides in the CPU that allows to manage the movement of a mechanical axis with an analog control epicicloidal ramps.
• The main function of the device is to generate a trajectory or “speed profile” that, suitably converted into a proportional voltage signal, commands a driving and then the axis attached to it.
• The speed profile has a epicicloidal trends (trend of progressive soft and progressive) that reduces the stress and the strain of mechanical parts.
• The device also includes a feed-back process on the measurement taken from the transducer This measure appropriately compared is used to generate the feedback. The control voltage for operation is generated by a DAC hardware (Digital to Analogic Converter) present to BUS QMOVE.
• To sync the position detected from the device with the actual axis position, is there a special procedure for movement such “preset search”.
• The feed-back is the PID+FF type (proportional, integral, derivative and feed-forward).

In the configuration file (.CNF), the BUS section must be declared so that you have the hardware resources required for the implementation of the EPICPOS device. There must be at least a bi-directional meter and a 16-bit resolution analog output. The device can also be used with an input and an interrupt line for preset search functions.
In the INTDEVICE section of the .CNF file must be add the following definition:

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
..
<device_name>  EPICPOS  TCamp  ICont  IntL  IAZero  IOutA

	It is necessary that each definition are present on the same line. In case you do not want to assign a resource, for example IAZero, you must enter in the appropriate field the string X.X.

where:

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
Axis_X   EPICPOS   2   2.CNT02   3   3.INP01   3.AN01

The EPICPOS device acquires the position of the axis via bi-directional transmitter signals of transducer; these signals are used by an internal counter. The value of this counter not express, genereally, directly the position of the axis in the unit of measure required by your application. The cntratio parameter is used then to express the relationship between the impulses the transducer and the corresponding application units. The permitted values for this parameter are 0,00374 ÷ 4 with five digits of precision. The report must be introduced in the parameter as an integer value, and then multiplied by 100000.
cntratio = (value in um) x 10 ^{decimal digits} / (corresponding transductor pulse) x 100000

If for the selected unit of measure is also provided for the presence of a decimal point, the locations must be represented as an integer value and represent space in units without decimal point. The resolution must be calculated with the same formula and the numerator the greatness without decimal point. The decimal point will be then inserted in the value representing the time viewers (example: as properties in the HMI).

The speeds are always expressed in whole units of measure in the unit of time choice. From this it emerges that the device must know the location of the decimal point of the unit of measure and this is done with the decpt parameter. This parameter can take values 0÷3.

	To activate this device send the INIT command.

• You want to represent the positions in centimeters with a decimal point.
• In the space of 18,2 cm the transducer generates 500 pulses.

As told to calculate the resolution you have to consider the space runs represented in terms of the measuring unit mm. The resolution is:
cntratio = (18.2 x 101 / 500) x 100000 = 36400

The settings must be: Axis:cntratio = 36400 Axis:decpt = 1

To run a placement at 146 cm, must type Axis:setpos = 1460

To set a speed of 10 centimeters per second, must type : Axis:unitvel = 1 Axis:setvel = 10

	Before starting actual placements you must make sure that electrical connections and mechanical appliances have not of malfunctions cause.

For the axis managing, the EPICPOS device using an analog output range ±10 V and 16 bit resolution with sign; with the calibration function this analog output can be command with a costant value in order to test links and functionality.

• Remove the emergency condition with the RESUME command.
• The state st_emrg = 0
• Enable calibration axis status with the CALON command; the st_cal state must take a value 1.
• Now you can set the analog voltage with the vout parameter; the value is expressed in tenths of a volt (-100 ÷ 100 = -10 ÷ 10 V). It is recommended to introduce low values (5, 10, 15 … equal to 0.5, 1, 1,5 V).
• When the axis is moving the frq parameter indicates the frequency in Hz of the transducer phases.
• The posit parameter that shown the position, varies indicating the space covered by axis.
  If setting a positive voltage the count will decrements, It is necessary to invert the phases of the transducer or reverse the direction in driving.
• You can reverse the direction of the count using the CNTREV command.
• If output voltage equal to zero the axis is not stopped, adjust the offset parameter pto correct the tension until movement does not stop. The inserted value (each bit corresponds to approximately 0.3 mV), will be added algebraically to the value of the analogue output; This operation allows to compensate for any drift of electronic component, from the QMOVE output and in the driver input. The value is expressed in bits with sign.
  For an optimal result of calibration this operation must be performed with the system to temperature capacity.
• To disable calibration status send the CALOFF command.
• The state st_cal = 0

The EPICPOS device generate the voltage value of the analogue output on the basis of a ratio between the maximum velocity of the axis and the maximum output voltage. Proportionality is obtained with the maxvel parameter, maximum axis speed representative on the analog voltage (10 V). Obviously the axle must behave symmetric compared to analog voltage zero value, Therefore the speed must be the same on both the positive and negative voltages at maximum.
Before to determining the value of maximum velocity, We must establish the unit of time to use for the representation of the velocity in the device; the unitvel parameter defines the unit of time of speed (Um/min or Um/s).

The theoretical method is a calculation that was performed on the basis of maximum motor speed. Once established the maximum revolutions per minute declared on the motor, We get the maximum velocity is expressed in the unit of measure the unit of time chosen.
Enter the value of maximum velocity calculated in the maxvel parameter.

The practical method is based on the reading of the speed detected by the device in the vel parameter, provide at the drive a known voltage. To provide the voltage to drive the device should be placed in a position of calibration as described in the previous paragraph. If the system permits, supply voltage operation 10 V and read the speed value in the vel parameter. If, on the other hand, is an excerpt of the output voltage (1, 2, … 5 V), calculate the maximum velocity with a proportion.
Enter the maximum speed value found in maxvel parameter.

	Before movement the axis, check the proper operation of emergency equipment and protection.

The procedures described here have allowed us to complete the first phase of setting parameters for the device. Now you can execute the simple movement of the axis.

• Move the axis in a position where we can make a specific area without touching the maximum quota limits.
• Set the current position of the axis to zero, by setting the parameter posit = 0.
• Set up the parameters that define the position of the limit switches software: minpos = 0 and maxpos at the value of the maximum stroke of the axis.
• Set the parameter that defines the time the axis to reach the maximum speed taccdec = 100. This parameter is expressed in hundredths of a second (100 = 1 sec.)
• Set the speed of positioning with the setvel parameter.
• Set the target quota with the setpos parameter.
• Set the parameter feedforward = 1000 (100%)
• If the device is in state of emergency (st_emrg = 1) give the RESUME command.
• Start positioning with the START comand. To stop the movement give the EMRG command.

This first movement was done without the feedback of space. The placement may have been executed with some error introduced by the non-linearity of the components or an imperfection in the maximum velocity calibration. Subsequently enabling space feedback this error goes away.

The placement runs in the preceding paragraph has been made without considering any position errors.
To check the correct position of the axis continuously and automatically, you need to have a feed-back on the position; for this reason introduces the PID+FF control algorithm including proportional, integral, derivative and feed-forward actions; the value of the analog output is given by the summation of feed forward, proportional, derivative and integrative actions.
Without going into the merits of a technical description of the theory of regulation, This section describes a series of actions to adjust the parameters that affect this control.
In order to achieve a satisfactory adjustment is sufficient to use only the feedforward and proportional actions; integral and derivative actions are used only for adjustments under special conditions.

The feed-forward helps make the system more ready on placements, by providing the analog output voltage proportional to the theoretical speed of positioning. In practice it is the component which you performed the placements of the previous chapter.
The contribution of this action can be adjusted with the feedfw parameter; This parameter is expressed as 1/1000 speed theoretical portion; so, to introduce such as 98.5% you must set 985 (thousandths).

This action provides an output proportional to the instantaneous axis position error. The extent of the proportional action is defined by the pgain parameter that defines the sensitivity of the system.
The pgain parameter is introduced in thousandths; the unit value of the gain (1000) provides an analog output to maximum value (10 V) relative to the maximum speed error. For maximum speed error means the space covered by axis - at he maximum speed - for the duration of the sampling time of the device.

Integrates the position error of the system over time set in integt parameter updating the release until the error is not canceled.
More lower the integration time of the error, more faster the recovery system error, but the system can become unstable, tending to swing.

Anticipates the change of the motion of the system tends to eliminate the overshoot of the positioning. The magnitude of change is calculated over time set in derivt parameter.
More higher the time of derivation of error and more faster the transient error recovery system, but if you enter a value that is too high the system becomes unstable, tending to fluctuate.

Searching for presets is a procedure to synchronize the count (posit parameter) with the real position of the axis. Can be execute in 3 different ways according to the prsmode parameter.

• In order to perform a search preset is need a input (acquired through the BUS QMOVE) we define “enabling zero transducer”. In its path, the axis must turn this entry into a particular point.
• The preset search procedure is started with the PRESET command; at the initial stage the count acquired from QMOVE can have any value and can be located anywhere.
• The axis must direct towards the cam allows the upload of preset. Not knowing which way to direct the axis to meet the enable input, search for preset lets you choose with the prsdir parameter two solutions:
  prsdir = 0 0 the axis will always a forward movement
  prsdir = 1 1 the axis will always a back movement
• If during the preset search execution is give again the PRESET command, the direction of motion of the axis is reversed.
• It is to be noted that the presets quota contained in the prspos parameter must always be between the minimum and the maximum quota and that, after you load the preset quota, the axis is automatically positioned to the preset.
• During the preset search the software limits maxpos and minpos are not enable.
• When you set the search speed zero pulse - sprsvel - we must consider that in Mode 0 the input has a hardware filter that delays the acquisition and so influence the precision of the loading. In the 1 mode, the acquisition is execute on interrupt input so the speed is not determinative. We must ensure, however, that the time of zero impulse duration is sufficient to be acquired from the card. In order to know the acquisition time of the entrance and the minimum time of zero pulse signal refer to the technical documentation of the used cards.

Once you start search presets with the PRESET command, the axis towards the position where the zero pulse enable input transducer with speed defined by prsvel. The st_prson state you turn to report the current preset. When, in its rush, the active axis this input, reverses direction and starts with speed sprsvel.
At this point the behavior depends on the manner of loading selected (Mode 0 or Mode 1).

	This procedure involves the movement of the axis and the use of the zero pulse enable input transducer.

To the deactivation of the zero-pulse enable trasducer input, the preset quota is loaded on the counting (parameter posit=prspos). Next, you disable the st_prson status and active the st_prsok state to signal the end of search. This State remains active until the starting of a new presets procedure; when the system is powered this State is always zero. See picture 1.

Picture 1: preset loading using the only enabling cam.

	This procedure involves the movement of axis and using the zero pulse inputs and enabling zero-pulse transducer.

To the deactivation of the zero-pulse enable transducer input, enables reading of the first zero-pulse provided by the transducer and, on this signal, it loads the preset quota in counting (parameter posit = prspos). To To allow the load of the preset quota with “Mode 1”, the card which is attached to the zero-pulse translator must transmit this signal on one of the 8 hardware interrupt lines. Moreover, the device must have been defined to use the same hardware interrupt line (See definition in the file .CNF).
Subsequently, the axis place at the preset quota, it disable the st_prson status and active the st_prsok state to signal the end of search; this State remains active until the start of a new process of presets. At the power on of the system st_prsok is always to zero. See picture 2.

Picture 2: loading preset using the enable cam and zero-pulse transducer.

	This procedure does NOT provide for the handling of the axis and the use of the zero-pulse transducer enable input.

With this procedure, the preset search does not execute any positioning. The preset quota load command is supply from the activation of the enable input zero encoder and the st_prsok state is set to one.
If the input is a continuous load remains activated while, if at power up the input is already active, the first upload is executed only after its deactivation and activation.

In some applications you are prompted to place a large number of axes by moving a single axis at a time. The design choice falls on installing just one drive that depending on the axis to be placed electrically connects the motor interested in positioning; the transducer is always bound to its axis.
The EANPOS device allows you to control access to the DAC device using the REGON and REGOFF commands. In this way through the QCL application defines a set of device many axes to be placed; in the definition, all devices use the same DAC resource (IOutA).
Normally all devices must be in the st_regoff = 1 state so you will not have access to the DAC device. Before you start positioning, with the REGON command, the device is brought to the st_regoff = 0 state. Runs the placement and completion,the device is returned in the state of st_regoff = 1 with the REGOFF command. For no reason two devices simultaneously must be found in the st_regoff = 0 state. When the device is placed in the position of regoff, the analog output remains fixed at the last voltage value called before the REGOFF command.

	Changing the quota is accepted only if the new position is reached with management in use and if the axis is not already when slowing down to reach the quota previously set.

In some applications you are prompted to define the target quota during placement, according to external events to the device. This means you can also write to the setpos parameter with placements occurring.

When positioning you can also change the value of the posit count. This function is usually used when a device must, under special conditions, continue a speed profile for a very long time, that exceeds the time axis takes to reach the limit quota (maxpos or minpos).

When positioning it is possible to vary the speed of the axis without affecting the location to get to. This can lead to an increase or a decrease in velocity, even more points with the same placement. This is accomplished with new writing in the setvel parameter.

When positioning can be varied even acceleration/deceleration times. For example, the device can start a placement with a very short ramp and, reached the speed set, the tacc parameter is changed and executed a change of speed with a very long ramp.
For special applications the ramp time can be varied even during a change of speed, in this case the new time is put into execution immediately.

	The command can be sent only if the axis is stopped, condition of st_still = 1.

The device always shows the absolute position of the axis; to execute incremental placements it is necessary to have a tool to subtract or add some value to the count (posit) without introducing errors. The change can also count with a direct writing to the new value in the posit parameter.
Wanting to steal 100 units of measure you can count:
Axis:posit = Axis:posit - 100

	The changing of the value of resolution (cntratio) or write to the posit variable, causes the reset of the remnants of the conversion.

This operation introduces an error because it imposes the location “posit = -100”, when the axis could have an intermediate position between a unit of measurement and subsequent (example 100.3). This fraction (0.3) is lost and the repetition of these steps will the accumulation of a considerable error.
The DELCNT command, count sum an amount equal to the delta parameter without losing the fraction part of the position:
Axis:delta = -100
DELCNT Axis
The DELCNT command may be sent only with stationary axis (st_still=1)

La lettura della posizione dell’asse risulta essere di 2 unità e si trova nel punto A. Si vuole sommare al conteggio posit tre unità di misura.
Con le istruzioni:
Asse:posit = Asse:posit + 2
l’asse assume la nuova posizione B.
Con le istruzioni:
Asse:delta = 2
DELCNT Asse
viene raggiunta la posizione C.

Si noti che con le prime istruzioni l’asse ha compiuto un delta inferiore a 3 unità e quindi è stato introdotto un errore.
Se si devono inviare comandi DELCNT in successione, é conveniente calcolare la grandezza da sommare ed inviare una sola volta il comando; in caso contrario prestare attenzione a non inviare comandi successivi senza interporre una istruzione di lettura su parametro device.

Asse:delta = 3
DELCNT Asse
WAIT Asse:st_init
Asse:delta = 40
DELCNT Asse

Il nome del parametro, stato o comando viene riportato alla sinistra della tabella.

R
Indica se il relativo parametro o stato è ritentivo (al momento dell’inizializzazione del device mantiene lo stato precedentemente definito), oppure lo stato che assume al momento dell’inizializzazione del device.
Se il device non necessita di inizializzazione il campo “R” indica il valore che il parametro o stato assume all’accensione della scheda.
R = Ritentivo
0 = Al momento dell’inizializzazione del device il valore viene forzato a zero.
1 = Al momento dell’inizializzazione del device il valore viene forzato a uno.
- = Al momento dell’inizializzazione del device viene presentato il valore significativo.

D
Indica la dimensione del parametro.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float

Vengono descritte tutte le condizioni necessarie affinchè il parametro sia considerato corretto o perchè il comando venga accettato.
In alcuni casi vengono specificati dei valori limite per l’accettazione del parametro: se vengono introdotti dei valori esterni ai limiti impostati, il dato viene comunque accettato; pertanto devono essere previsti opportuni controlli dell’applicativo tali da garantire il corretto funzionamento.
Per l’esecuzione di un comando, tutte le relative condizioni devono necessariamente essere soddisfatte; in caso contrario il comando non viene eseguito.

A
Indica la modalità di accesso.
R = Read (lettura).
W = Write (scrittura).
RW = Read / Write.

I comandi sono stati ordinati con priorità decrescente. Ad esempio, in caso di contemporaneità dei comandi INIT ed EMRG, viene acquisito per primo il comando INIT.

• Il parametro setvel può essere scritto solamente se l’asse é a velocitá costante
• I parametri rampm, tacc, tdec e taccdec possono essere scritti solamente se l’asse é a velocitá costante; in caso contrario il nuovo valore verrà processato solamente durante la generazione della prossima rampa il cui tempo é stato modificato.

;*************************************************************************************
; Nome Modulo: Ex_Epic.CNF                     Progetto: Ex_EPICPOS
; Autore: QEM srl                              Data: 01/05/99
; Sistema: QMove1 / QCL3                       Libreria: 1LIB3B04
; Funzionalità: Esempio gestione EPICPOS       Release: 0
;------------------------------------- Note ------------------------------------------
; [1] - Applicativo di esempio per utilizzo device EPICPOS
;*************************************************************************************
 
;-------------------------------------------------------------------------------------
; Definizione Costanti
;-------------------------------------------------------------------------------------
CONST
 
;-------------------------------------------------------------------------------------
; Definizione Variabili SYSTEM
;-------------------------------------------------------------------------------------
SYSTEM
slQuotaPos    L                               ;Variabile per quota di posizionamento
slVelAsse     L                               ;Variabile per velocità asse
 
;-------------------------------------------------------------------------------------
; Definizione Variabili GLOBAL
;-------------------------------------------------------------------------------------
GLOBAL
gfMovMan      F                               ;Flag segnalazione movimenti manuali in
                                              ;corso
gfMovAuto     F                               ;Flag segnalazione movimenti automatici
                                              ;in corso
 
;-------------------------------------------------------------------------------------
; Definizione Variabili TIMER
;-------------------------------------------------------------------------------------
TIMER
 
;-------------------------------------------------------------------------------------
; Definizione DATAGROUP
;-------------------------------------------------------------------------------------
;DATAGROUP
 
;-------------------------------------------------------------------------------------
;Configurazione Bus
;-------------------------------------------------------------------------------------
BUS
      1   1CPUB      02
      2   1MIXA      00
      3   .
      4   .
 
;-------------------------------------------------------------------------------------
; Definizione Variabili INPUT
;-------------------------------------------------------------------------------------
INPUT
ifAvMan       F   2.INP01                     ;Ingresso di avanti manuale
ifInMan       F   2.INP02                     ;Ingresso di indietro manuale
ifStart       F   2.INP03                     ;Ingresso di START asse
ifStop        F   2.INP04                     ;Ingresso di STOP asse
 
;-------------------------------------------------------------------------------------
; Definizione Variabili OUTPUT
;-------------------------------------------------------------------------------------
OUTPUT
ofToll        F   2.OUT01                     ;uscita di asse in tolleranza
ofAxeFermo    F   2.OUT02                     ;uscita di asse fermo
 
;-------------------------------------------------------------------------------------
; Dichiarazione device interni
;-------------------------------------------------------------------------------------
INTDEVICE
;Nome   Tipo     TCamp    Contatore   Inter   AbilZero   OutAnal
Asse    EPICPOS  0004     2.CNT01     1       2.INP01    2.AN01
 
END

;-------------------------------------------------------------------------------------
; Nome File: TASK_00.MOD
; Progetto : EX_EPICPOS
; Descrizione: Gestione Posizionamento
;-------------------------------------------------------------------------------------
 
;-------------------------------------------------------------------------------------
; Operazioni di Inizializzazione Asse
;-------------------------------------------------------------------------------------
 
Asse:cntratio = 100000                       ;Risoluz.encoder = Spazio in 1 giro
                                             ;encoder(Um) / impulsi giro encoder
Asse:maxvel = 100000                         ;Velocita` max. = Velocita` Asse con
                                             ;uscita analogica a 10V (CALON / vout=100)
Asse:maxpos = 999999                         ;Quota massima
Asse:minpos = -999999                        ;Quota minima
Asse:maxfollerr = 10000                      ;Errore di inseguimento
Asse:unitvel= 0                              ;Unita di tempo della velocità
Asse:decpt = 0                               ;Cifre decimali
Asse:rampmode = 0                            ;Tipo di rampe utilizzate
Asse:taccdec = 100                           ;Tempo di accelerazione e di decelerazione
Asse:tacc = 0                                ;Tempo di accelerazione (non utilizzato)
Asse:tdec = 0                                ;Tempo di decelerazione (non utilizzato)
Asse:tinv = 0                                ;Tempo di inversione asse
Asse:toll = 5                                ;Tolleranza
Asse:toldly = 10                             ;Tempo di ritardo segnalazione
                                             ;tolleranza
Asse:rtype = 1                               ;Tipo di riduzione profilo
Asse:stopt = 1                               ;Tipo di stop
Asse:prsmode = 0                             ;Tipo di ricerca di preset
Asse:prspos = 0                              ;Quota di preset
Asse:prsdir = 0                              ;Direzione della ricerca di preset
Asse:prsvel = (20 * Asse:maxvel)/100         ;Velocità di preset (20% della vel.max.)
Asse:sprsvel = (10 * Asse:maxvel)/100        ;Velocità di ricerca impulso di zero
                                             ;(10% della vel.max.)
Asse:offset = 0                              ;Tensione di offset
Asse:pgain = 10                              ;Guadagno proporzionale
Asse:feedfw = 1000                           ;Feedforward
Asse:integt = 0                              ;Tempo di integrale
Asse:derivt = 0                              ;Tempo derivativo
INIT Asse                                    ;Inizializza il device
WAIT Asse:st_init                            ;Attendi che il device sia inizializzato
CNTUNLOCK Asse                               ;Sblocca conteggio
WAIT NOT Asse:st_cntlock                     ;Attendi che il conteggio sia sbloccato
CNTDIR Asse                                  ;Imposta il senso del conteggio
WAIT NOT Asse:st_cntrev                      ;Attendi che sia impostato il senso del
                                             ;conteggio
REGON Asse                                   ;Abilita la regolazione
WAIT NOT Asse:st_regoff                      ;Attendi l'abilitazione alla regolazione
RESUME Asse                                  ;Togli l'asse dallo stato di emergenza
WAIT NOT Asse:st_emrg                        ;Attendi che l'asse non sia in emergenza
LOOPON Asse                                  ;Aggancia il loop di reazione dell'asse
WAIT Asse:st_loopon                          ;Attendi che sia agganciato il loop di
                                             ;reazione dell'asse
IF (slVelAsse EQ 0)                          ;Nel caso in cui il set di velocità
                                             ;dell'asse sia zero
  slVelAsse = 50                             ;Imposta una velocità di posizionamento
ENDIF
IF (slQuotaPos EQ 0)                         ;Nel caso in cui la quota di posizionamento
                                             ;dell'asse sia zero
  slQuotaPos = 2000                          ;Imposta una quota di posizionamento
ENDIF
 
;-------------------------------------------------------------------------------------
; Operazioni di Posizionamento
; ------------------------------ variabili utilizzate --------------------------------
; slVelAsse: Variabile impostabile che rappresenta la velocita' dell'asse
; (espressa in % della vel.max.)
; slQuotaPos: Variabile impostabile che rappresenta la quota di posizionamento dell'asse
; -------------------------------- flag utilizzati -----------------------------------
; gfMovMan: movimento manuale in corso
; gfMovAuto: Movimento automatico in corso
;-------------------------------------------------------------------------------------
MAIN:
 
;-------------------------------------------------------------------------------------
; Gestione uscite
;-------------------------------------------------------------------------------------
ofToll = Asse:st_toll                         ;Imposto l'uscita di tolleranza come lo
                                              ;stato di tolleranza
ofAxeFermo = Asse:st_still                    ;Imposto l'uscita di asse fermo come lo stato di
asse fermo
 
;-------------------------------------------------------------------------------------
; Gestione movimenti automatici
;-------------------------------------------------------------------------------------
IF ifStart                                    ;Attende l'ingresso di START
  IF NOT gfMovMan                             ;Controlla che non ci siano movimenti
                                              ;manuali
    IF Asse:st_still                          ;Controlla che l'asse sia fermo
      Asse:setvel=(slVelAsse*Asse:maxvel)/100 ;Imposta la velocità dell’asse
      Asse:setpos = slQuotaPos                ;Imposta la quota di posizionamento
      START Asse                              ;Esegue lo start dell'asse
      gfMovAuto = 1                           ;Segnala movimento automatico in corso
    ENDIF
  ENDIF
ENDIF
 
IF ifStop                                     ;Attende l'ingresso di STOP
  IF NOT Asse:st_still                        ;Controlla che l'asse NON sia fermo
    STOP Asse                                 ;Esegue lo stop dell'asse
  ENDIF
ENDIF
 
IF gfMovAuto                                  ;Controlla segnalazione movimento
                                              ;automatico in corso
  IF Asse:st_still                            ;Controlla che l'asse sia fermo
    gfMovAuto = 0                             ;Resetta stato di movimento Automatico
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Gestione movimenti manuali
;-------------------------------------------------------------------------------------
IF ifAvMan                                    ;Attende l'ingresso di movimento manuale
  IF NOT (gfMovAuto OR gfMovMan)              ;Controlla che non ci siano movimenti
                                              ;automatici o manuali
    IF Asse:st_still                          ;Controlla che l'asse sia fermo
      Asse:setvel=(slVelAsse*Asse:maxvel)/100 ;Imposta la velocità dell'asse
      MANFW Asse                              ;Avanti asse in manuale
      gfMovMan = 1                            ;Segnala movimento manuale in corso
    ENDIF
  ENDIF
ENDIF
IF ifInMan                                    ;Attende l'ingresso di movimento manuale
  IF NOT (gfMovAuto OR gfMovMan)              ;Controlla che non ci siano movimenti
                                              ;autometici o manuali
    IF Asse:st_still                          ;Controlla che l'asse sia fermo
      Asse:setvel=(slVelAsse*Asse:maxvel)/100 ;Imposta la velocita` dell'asse
      MANBW Asse                              ;Avanti asse in manuale
      gfMovMan = 1                            ;Segnala movimento manuale in corso
    ENDIF
  ENDIF
ENDIF
IF gfMovMan                                   ;Se l'asse si muove in manuale
  IF NOT (ifAvMan OR ifInMan)                 ;Se gli ingressi di avanti e indietro
                                              ;manuale sono OFF
    STOP Asse                                 ;Ferma l'asse
    gfMovMan = 0                              ;Togli la segnalazione di asse in
                                              ;movimento manuale
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Operazioni finali
;-------------------------------------------------------------------------------------
  WAIT 1
  JUMP MAIN
 
END